The actuator likely has an issue with its encoder. Please let us know the serial number, and we will get a replacement actuator out to you immediately via your distributor, Nihon Binary.
Thanks,
-Dave
Search found 41 matches
- Mon Aug 31, 2020 10:04 am
- Forum: Actuators
- Topic: Large Error in feedback velocity and irregular feedback effort for actuator
- Replies: 3
- Views: 7982
- Wed Aug 26, 2020 11:43 am
- Forum: Actuators
- Topic: Covariance matrix IMU
- Replies: 2
- Views: 11896
Re: Covariance matrix IMU
Istvan, Thanks for the question. We have received this question a few times in the past. Sorry in advance for the long response. Odometry from IMUs: Obtaining position estimates from IMUs is really tough to do in practice. The IMUs we use (either the MPU-6500 or the ICM-20602 from TDK) do not have t...
- Thu Aug 06, 2020 9:09 pm
- Forum: Kits|Arms
- Topic: How to Avoid Self Collisions using MoveIt?
- Replies: 8
- Views: 16186
Re: How to Avoid Self Collisions using MoveIt?
Looking at the log again, I don't see any sign of the joint-level limits being set or reached while running. The only time the actuators don't track isn't because of them hitting any sort of set position limit, its just the commanded positions / velocities moving really fast and the actuator not bei...
- Wed Aug 05, 2020 7:14 pm
- Forum: Kits|Arms
- Topic: How to Avoid Self Collisions using MoveIt?
- Replies: 8
- Views: 16186
Re: How to Avoid Self Collisions using MoveIt?
Mark, Thanks for attaching the log. It was only for one actuator, J1_shoulder1, but I think it gave some insight into what's going on. Occasionally the arm is being commanded to make very large moves in a short period of time. This might have something to do with a 0-2*pi wraparound that's not being...
- Thu Jul 30, 2020 12:47 pm
- Forum: Actuators
- Topic: Custom AGV velocity question
- Replies: 4
- Views: 8927
Re: Custom AGV velocity question
Istvan, Sorry for the delay in replying. The API for command actuator motion works a differently than what you're describing. Rather than command a large step in position and wait, the API is intended to be used where positions / velocities / torques (effort) are commanded continuously at a high rat...
- Mon Jul 20, 2020 11:48 am
- Forum: Actuators
- Topic: Custom AGV velocity question
- Replies: 4
- Views: 8927
Re: Custom AGV velocity question
István, With the mobile bases, it's best if you can use all actuators of the same type. The reason the actuators track differently is that the X5-9s have significantly more torque compared to the X5-1s, so they track the velocity command more easily under acceleration load and wheel friction. I don'...
- Mon Jul 06, 2020 11:24 am
- Forum: Actuators
- Topic: Abnormally High Effort Readings
- Replies: 2
- Views: 8001
Re: Abnormally High Effort Readings
Fahad,
There is likely a problem with one of the output encoders that is used to measure torque. We will be sending you a replacement actuator today, via your distributor. Please return your X8-3 once you have received your replacement.
Thanks,
-Dave
There is likely a problem with one of the output encoders that is used to measure torque. We will be sending you a replacement actuator today, via your distributor. Please return your X8-3 once you have received your replacement.
Thanks,
-Dave
- Mon Jun 08, 2020 12:37 pm
- Forum: General
- Topic: Network topology discovery
- Replies: 7
- Views: 49167
Re: Network topology discovery
One more comment on the LEDs to identify actuators: This situation is why two of the buttons in Scope on the Dashboard, and in the right-click menu for the Module List, are 'Red LED' and 'Clear LED'. You can select an actuator, and manually check the position on the robot, and then change its name, ...
- Wed Jun 03, 2020 3:58 pm
- Forum: General
- Topic: Network topology discovery
- Replies: 7
- Views: 49167
Re: Network topology discovery
Like Curtis said, we don't have a great general way of determining ID. The two methods we've tried to get a partial solution so far only work for actuators that are known to be chained together in series. Using Kinematics + IMUs: We've tested out using the IMUs to quickly identify actuators that are...
- Tue May 26, 2020 5:36 pm
- Forum: Actuators
- Topic: Motor Temperature LED Status
- Replies: 0
- Views: 10149
Motor Temperature LED Status
There was a question recently about at what motor winding temperature does the actuator status LED start to blink red, indicating the thermal safety controller is active. https://docs.hebi.us/core_concepts.html#led-status-codes On the X-Series and R-Series actuators, the LED starts blinking at 130 d...